├── .dockerignore ├── .flake8 ├── .gitattributes ├── .gitignore ├── .pre-commit-config.yaml ├── .vscode ├── .gitignore ├── extensions.json ├── tasks.json └── tools │ ├── launch.template.json │ ├── settings.template.json │ └── setup_vscode.py ├── LICENCE ├── README.md ├── docker ├── .env.base ├── Dockerfile └── docker-compose.yaml ├── pyproject.toml ├── scripts ├── list_envs.py ├── rename_template.py └── rsl_rl │ ├── cli_args.py │ ├── play.py │ └── train.py └── source └── ext_template ├── config └── extension.toml ├── docs └── CHANGELOG.rst ├── ext_template ├── __init__.py ├── tasks │ ├── __init__.py │ └── locomotion │ │ ├── __init__.py │ │ └── velocity │ │ ├── __init__.py │ │ ├── config │ │ ├── __init__.py │ │ └── anymal_d │ │ │ ├── __init__.py │ │ │ ├── agents │ │ │ ├── __init__.py │ │ │ └── rsl_rl_ppo_cfg.py │ │ │ ├── flat_env_cfg.py │ │ │ └── rough_env_cfg.py │ │ ├── mdp │ │ ├── __init__.py │ │ ├── curriculums.py │ │ └── rewards.py │ │ └── velocity_env_cfg.py └── 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